Mitsubishi Electric MELSEC iQ-R Series User Manual page 221

[Cd.138] Control mode switching request
[Cd.139] Control mode setting
BUSY signal
[Md.26] Axis operation status
Control mode
([Md.108] Servo status1: b2, b3)
[Pr.112] Servo OFF command
valid/invalid setting
[Cd.100] Servo OFF command
Servo ON
([Md.108] Servo status1: b1)
*1 The switching time depends on the servo amplifier specifications.
Control mode switching during servo OFF
When "1: Servo OFF command valid during speed/torque control" is set for "[Pr.112] Servo OFF command valid/invalid
setting", the position control mode can be switched to the speed control mode, torque control mode, and continuous operation
to torque control mode during servo OFF.
The control mode cannot be switched in the continuous operation to torque control mode.
Position
control
mode
Warning "Control mode switching not
possible"
(Warning code: 0DABH) detected
Precautions during control
• In the speed-torque control, the mode cannot be switched to the continuous operation to torque control mode or position
control mode during servo OFF. When "1: Switching request" is set for "[Cd.138] Control mode switching request" during
servo OFF, the warning "Control mode switching not possible" (warning code: 0DABH) is detected. However, when the
following conditions are satisfied, the speed control mode can be switched to the continuous operation to torque control
mode during servo OFF.
• "[Md.26] Axis operation status" is standby or stopped.
• "[Cd.180] Axis stop" is OFF.
• No error has occurred.
• In the continuous operation to torque control mode, the control mode cannot be switched during servo OFF. When "1:
Switching request" is set for "[Cd.138] Control mode switching request" during servo OFF, the warning "Control mode
switching not possible" (warning code: 0DABH) is detected. However, when the following conditions are satisfied, the
continuous operation to torque control mode can be switched to the position control mode.
• The current mode is the continuous operation to torque control mode and the previous control mode is the position control mode.
• Zero speed ([Md.119] Servo status2: b3) is OFF.
• The servo amplifier is being connected.
• There is no immediate stop cause.
• When "Condition selection at mode switching (b12 to b15)" of "[Pr.90] Operation setting for speed-torque control mode" is set to "1: According to the servo
amplifier specification" and "ZSP disabled selection at control switching" of the MR-J5-G servo parameter "Function selection C-E (PC76)" is set to "1:
Disabled"
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0
0
OFF
0
0
0
ON
Speed control mode
Torque control mode
search engine
6 to 8 ms *1
1
10
ON
21 30
[0, 0]
1
1
OFF
Warning "Control mode switching not
possible"
(Warning code: 0DABH) detected
0
31
[0, 1]
0
Continuous
operation
to torque
control
mode
7 EXPANSION CONTROL
7.1 Speed-torque Control
7
219